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<div class="title">feature.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURE_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#if defined __GNUC__</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#  pragma GCC system_header </span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;boost/function.hpp&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;boost/bind.hpp&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">// PCL includes</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  solvePlaneParameters (<span class="keyword">const</span> Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                        <span class="keyword">const</span> Eigen::Vector4f &amp;point,</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                        Eigen::Vector4f &amp;plane_parameters, <span class="keywordtype">float</span> &amp;curvature);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  solvePlaneParameters (<span class="keyword">const</span> Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                        <span class="keywordtype">float</span> &amp;nx, <span class="keywordtype">float</span> &amp;ny, <span class="keywordtype">float</span> &amp;nz, <span class="keywordtype">float</span> &amp;curvature);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html">  105</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_feature.html">Feature</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::indices_</a>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_p_c_l_base.html">BaseClass</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; Feature&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const Feature&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointInT&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;int (<span class="keywordtype">size_t</span>, <span class="keywordtype">double</span>, std::vector&lt;int&gt; &amp;, std::vector&lt;float&gt; &amp;)&gt; SearchMethod;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;int (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, <span class="keywordtype">size_t</span> index, <span class="keywordtype">double</span>, std::vector&lt;int&gt; &amp;, std::vector&lt;float&gt; &amp;)&gt; SearchMethodSurface;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a96497e27e1087c0b1e07c8ae84aea152">  130</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#a96497e27e1087c0b1e07c8ae84aea152">Feature</a> () :</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> (), <a class="code" href="classpcl_1_1_feature.html#af2d27cdd139bd79335008303cf68ba82">search_method_surface_</a> (),</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>(), <a class="code" href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">tree_</a>(),</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">search_parameter_</a>(0), <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a>(0), <a class="code" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a>(0),</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#aa08fc132189062dabfa291701fa46440">fake_surface_</a>(false)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {}</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            </div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a147e6286fc98646910c4b6751278038f">  138</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_feature.html#a147e6286fc98646910c4b6751278038f">~Feature</a> () {}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">  148</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">setSearchSurface</a> (<span class="keyword">const</span> PointCloudInConstPtr &amp;cloud)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a> = cloud;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#aa08fc132189062dabfa291701fa46440">fake_surface_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="comment">//use_surface_  = true;</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">inline</span> PointCloudInConstPtr</div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a09320ff2025be07c1e4a378d88588e8d">  157</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#a09320ff2025be07c1e4a378d88588e8d">getSearchSurface</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">  166</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">setSearchMethod</a> (<span class="keyword">const</span> KdTreePtr &amp;tree) { <a class="code" href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">tree_</a> = tree; }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">inline</span> KdTreePtr</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#acc850056d252306c48c481e4bbee1821">  170</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#acc850056d252306c48c481e4bbee1821">getSearchMethod</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">tree_</a>);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a86004b18e77cc0c38a1a33fbd43fb760">  177</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#a86004b18e77cc0c38a1a33fbd43fb760">getSearchParameter</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">search_parameter_</a>);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">  186</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">setKSearch</a> (<span class="keywordtype">int</span> k) { <a class="code" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a> = k; }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a94cce071beee358359b14db2edcc62ae">  190</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#a94cce071beee358359b14db2edcc62ae">getKSearch</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a>);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">  200</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (<span class="keywordtype">double</span> radius)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a> = radius;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#ac62f459672f3ca0e986e495a9220b268">  207</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#ac62f459672f3ca0e986e495a9220b268">getRadiusSearch</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a>);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">  222</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#af2d27cdd139bd79335008303cf68ba82">  225</a></span>&#160;      SearchMethodSurface <a class="code" href="classpcl_1_1_feature.html#af2d27cdd139bd79335008303cf68ba82">search_method_surface_</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">  230</a></span>&#160;      PointCloudInConstPtr <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">  233</a></span>&#160;      KdTreePtr <a class="code" href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">tree_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">  236</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">search_parameter_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">  239</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">  242</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> std::string&amp;</div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">  246</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a>); }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <a class="code" href="classpcl_1_1_feature.html#a2cd0857bae8a4ac67a961d98d9eacde5">initCompute</a> ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <a class="code" href="classpcl_1_1_feature.html#ab235b6b76033922b19aae91714d7e413">deinitCompute</a> ();</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#aa08fc132189062dabfa291701fa46440">  257</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_feature.html#aa08fc132189062dabfa291701fa46440">fake_surface_</a>;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">  270</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">searchForNeighbors</a> (<span class="keywordtype">size_t</span> index, <span class="keywordtype">double</span> parameter,</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                          std::vector&lt;int&gt; &amp;indices, std::vector&lt;float&gt; &amp;distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html#af2d27cdd139bd79335008303cf68ba82">search_method_surface_</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, index, parameter, indices, distances));</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#a9422bdfb7074f73019e32d55eeda73bb">  288</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#a9422bdfb7074f73019e32d55eeda73bb">searchForNeighbors</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, <span class="keywordtype">size_t</span> index, <span class="keywordtype">double</span> parameter,</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                          std::vector&lt;int&gt; &amp;indices, std::vector&lt;float&gt; &amp;distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html#af2d27cdd139bd79335008303cf68ba82">search_method_surface_</a> (cloud, index, parameter, indices, distances));</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature.html#ace6344a05ab920294e725ef503cac0c0">  299</a></span>&#160;      <a class="code" href="classpcl_1_1_feature.html#ace6344a05ab920294e725ef503cac0c0">computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output) = 0;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  };</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_normals.html">  310</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature.html">Feature</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="comment">// Members derived from the base class</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_normals.html#a158bd4a3ec52800cc8a883ceaefa51c6">  331</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_from_normals.html#a158bd4a3ec52800cc8a883ceaefa51c6">FeatureFromNormals</a> () : <a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a> () {}</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      </div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_normals.html#a59bc12a33b1893b361bf246e32282e4f">  334</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_feature_from_normals.html#a59bc12a33b1893b361bf246e32282e4f">~FeatureFromNormals</a> () {}</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00344"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">  344</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">setInputNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr &amp;normals) { <a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a> = normals; }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <span class="keyword">inline</span> PointCloudNConstPtr</div>
<div class="line"><a name="l00348"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_normals.html#a2eb5090f6a3413a436d5900b386bf8e0">  348</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_from_normals.html#a2eb5090f6a3413a436d5900b386bf8e0">getInputNormals</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a>); }</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">  354</a></span>&#160;      PointCloudNConstPtr <a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a>;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      <a class="code" href="classpcl_1_1_feature_from_normals.html#a2720af3323c9bb15c073156fe568ced3">initCompute</a> ();</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  };</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00368"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_labels.html">  368</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature.html">Feature</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  {</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudL</a>;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::ConstPtr PointCloudLConstPtr;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      <span class="comment">// Members derived from the base class</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_labels.html#a5ee9aefcdd32a307781459e11e00b02d">  391</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_from_labels.html#a5ee9aefcdd32a307781459e11e00b02d">FeatureFromLabels</a> () : <a class="code" href="classpcl_1_1_feature_from_labels.html#a810821f686979285987850523148f727">labels_</a> ()</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      {</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a> = 1; <span class="comment">// Search tree is not always used here.</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      }</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;      </div>
<div class="line"><a name="l00397"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_labels.html#a4f87f3a17e8c6a10222e876361bf93aa">  397</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_feature_from_labels.html#a4f87f3a17e8c6a10222e876361bf93aa">~FeatureFromLabels</a> () {}</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_labels.html#a1a556c64a4cbd28933771d2a2d955d9e">  406</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_from_labels.html#a1a556c64a4cbd28933771d2a2d955d9e">setInputLabels</a> (<span class="keyword">const</span> PointCloudLConstPtr &amp;labels)</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      {</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        <a class="code" href="classpcl_1_1_feature_from_labels.html#a810821f686979285987850523148f727">labels_</a> = labels;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      }</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keyword">inline</span> PointCloudLConstPtr</div>
<div class="line"><a name="l00413"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_labels.html#adce3ecb4a84d8b2281476e7128f39561">  413</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_from_labels.html#adce3ecb4a84d8b2281476e7128f39561">getInputLabels</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature_from_labels.html#a810821f686979285987850523148f727">labels_</a>);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      }</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00422"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_from_labels.html#a810821f686979285987850523148f727">  422</a></span>&#160;      PointCloudLConstPtr <a class="code" href="classpcl_1_1_feature_from_labels.html#a810821f686979285987850523148f727">labels_</a>;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      <a class="code" href="classpcl_1_1_feature_from_labels.html#a93acfa34d625f616e094f65ddef10ae9">initCompute</a> ();</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  };</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt;</div>
<div class="line"><a name="l00447"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_with_local_reference_frames.html">  447</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames</a></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  {</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointRFT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudLRF</a>;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudLRF::Ptr PointCloudLRFPtr;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudLRF::ConstPtr PointCloudLRFConstPtr;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_with_local_reference_frames.html#aae1b8e90edb0dbb4a290f59a1c282908">  455</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#aae1b8e90edb0dbb4a290f59a1c282908">FeatureWithLocalReferenceFrames</a> () : <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#a0c278f5c08c3311267776b670bd0bb80">frames_</a> (), <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#ae98fabb9e51dba477a0968961f16645d">frames_never_defined_</a> (true) {}</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00458"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_with_local_reference_frames.html#a28f22d4458108e3fc08f249f1563c9ef">  458</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#a28f22d4458108e3fc08f249f1563c9ef">~FeatureWithLocalReferenceFrames</a> () {}</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00467"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_with_local_reference_frames.html#a88e05490c1db062dda72504d2e64fd63">  467</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#a88e05490c1db062dda72504d2e64fd63">setInputReferenceFrames</a> (<span class="keyword">const</span> PointCloudLRFConstPtr &amp;frames)</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      {</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#a0c278f5c08c3311267776b670bd0bb80">frames_</a> = frames;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#ae98fabb9e51dba477a0968961f16645d">frames_never_defined_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      }</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;      <span class="keyword">inline</span> PointCloudLRFConstPtr</div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_with_local_reference_frames.html#a2b8721b333f2845bdfe8d7ee51aab2fc">  475</a></span>&#160;      <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#a2b8721b333f2845bdfe8d7ee51aab2fc">getInputReferenceFrames</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#a0c278f5c08c3311267776b670bd0bb80">frames_</a>);</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00482"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_with_local_reference_frames.html#a0c278f5c08c3311267776b670bd0bb80">  482</a></span>&#160;      PointCloudLRFConstPtr <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#a0c278f5c08c3311267776b670bd0bb80">frames_</a>;</div>
<div class="line"><a name="l00484"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_with_local_reference_frames.html#ae98fabb9e51dba477a0968961f16645d">  484</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#ae98fabb9e51dba477a0968961f16645d">frames_never_defined_</a>;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno"><a class="line" href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">  491</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Feature&lt;PointInT, PointRFT&gt;::Ptr <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">LRFEstimationPtr</a>;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;      initLocalReferenceFrames (<span class="keyword">const</span> <span class="keywordtype">size_t</span>&amp; indices_size,</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;                                <span class="keyword">const</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">LRFEstimationPtr</a>&amp; lrf_estimation = <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">LRFEstimationPtr</a>());</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  };</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;}</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/feature.hpp&gt;</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FEATURE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_labels_html"><div class="ttname"><a href="classpcl_1_1_feature_from_labels.html">pcl::FeatureFromLabels</a></div><div class="ttdef"><b>Definition:</b> feature.h:369</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_labels_html_a1a556c64a4cbd28933771d2a2d955d9e"><div class="ttname"><a href="classpcl_1_1_feature_from_labels.html#a1a556c64a4cbd28933771d2a2d955d9e">pcl::FeatureFromLabels::setInputLabels</a></div><div class="ttdeci">void setInputLabels(const PointCloudLConstPtr &amp;labels)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the point labels of the XYZ dataset....</div><div class="ttdef"><b>Definition:</b> feature.h:406</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_labels_html_a4f87f3a17e8c6a10222e876361bf93aa"><div class="ttname"><a href="classpcl_1_1_feature_from_labels.html#a4f87f3a17e8c6a10222e876361bf93aa">pcl::FeatureFromLabels::~FeatureFromLabels</a></div><div class="ttdeci">virtual ~FeatureFromLabels()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> feature.h:397</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_labels_html_a5ee9aefcdd32a307781459e11e00b02d"><div class="ttname"><a href="classpcl_1_1_feature_from_labels.html#a5ee9aefcdd32a307781459e11e00b02d">pcl::FeatureFromLabels::FeatureFromLabels</a></div><div class="ttdeci">FeatureFromLabels()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> feature.h:391</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_labels_html_a810821f686979285987850523148f727"><div class="ttname"><a href="classpcl_1_1_feature_from_labels.html#a810821f686979285987850523148f727">pcl::FeatureFromLabels::labels_</a></div><div class="ttdeci">PointCloudLConstPtr labels_</div><div class="ttdoc">A pointer to the input dataset that contains the point labels of the XYZ dataset.</div><div class="ttdef"><b>Definition:</b> feature.h:422</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_labels_html_a93acfa34d625f616e094f65ddef10ae9"><div class="ttname"><a href="classpcl_1_1_feature_from_labels.html#a93acfa34d625f616e094f65ddef10ae9">pcl::FeatureFromLabels::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> feature.hpp:262</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_labels_html_adce3ecb4a84d8b2281476e7128f39561"><div class="ttname"><a href="classpcl_1_1_feature_from_labels.html#adce3ecb4a84d8b2281476e7128f39561">pcl::FeatureFromLabels::getInputLabels</a></div><div class="ttdeci">PointCloudLConstPtr getInputLabels() const</div><div class="ttdoc">Get a pointer to the labels of the input XYZ point cloud dataset.</div><div class="ttdef"><b>Definition:</b> feature.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a158bd4a3ec52800cc8a883ceaefa51c6"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a158bd4a3ec52800cc8a883ceaefa51c6">pcl::FeatureFromNormals::FeatureFromNormals</a></div><div class="ttdeci">FeatureFromNormals()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> feature.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a2720af3323c9bb15c073156fe568ced3"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a2720af3323c9bb15c073156fe568ced3">pcl::FeatureFromNormals::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> feature.hpp:229</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a2eb5090f6a3413a436d5900b386bf8e0"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a2eb5090f6a3413a436d5900b386bf8e0">pcl::FeatureFromNormals::getInputNormals</a></div><div class="ttdeci">PointCloudNConstPtr getInputNormals() const</div><div class="ttdoc">Get a pointer to the normals of the input XYZ point cloud dataset.</div><div class="ttdef"><b>Definition:</b> feature.h:348</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a349685ac9deb723502de9f399d0286dc"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">pcl::FeatureFromNormals::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset....</div><div class="ttdef"><b>Definition:</b> feature.h:344</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a59bc12a33b1893b361bf246e32282e4f"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a59bc12a33b1893b361bf246e32282e4f">pcl::FeatureFromNormals::~FeatureFromNormals</a></div><div class="ttdeci">virtual ~FeatureFromNormals()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> feature.h:334</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_aabc97906d7c9620d70c5a16de5a48c31"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">pcl::FeatureFromNormals::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">A pointer to the input dataset that contains the point normals of the XYZ dataset.</div><div class="ttdef"><b>Definition:</b> feature.h:354</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a09320ff2025be07c1e4a378d88588e8d"><div class="ttname"><a href="classpcl_1_1_feature.html#a09320ff2025be07c1e4a378d88588e8d">pcl::Feature::getSearchSurface</a></div><div class="ttdeci">PointCloudInConstPtr getSearchSurface() const</div><div class="ttdoc">Get a pointer to the surface point cloud dataset.</div><div class="ttdef"><b>Definition:</b> feature.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a0d21af8f0a11aa224026f6bb8e3060e7"><div class="ttname"><a href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">pcl::Feature::search_parameter_</a></div><div class="ttdeci">double search_parameter_</div><div class="ttdoc">The actual search parameter (from either search_radius_ or k_).</div><div class="ttdef"><b>Definition:</b> feature.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a147e6286fc98646910c4b6751278038f"><div class="ttname"><a href="classpcl_1_1_feature.html#a147e6286fc98646910c4b6751278038f">pcl::Feature::~Feature</a></div><div class="ttdeci">virtual ~Feature()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> feature.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a14fbb05e0e8f1d1ec766a50353f3c224"><div class="ttname"><a href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">pcl::Feature::setSearchSurface</a></div><div class="ttdeci">void setSearchSurface(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to a dataset to add additional information to estimate the features for every point...</div><div class="ttdef"><b>Definition:</b> feature.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2c52e9b0412b8ce790837b24cd99f0af"><div class="ttname"><a href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">pcl::Feature::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2cd0857bae8a4ac67a961d98d9eacde5"><div class="ttname"><a href="classpcl_1_1_feature.html#a2cd0857bae8a4ac67a961d98d9eacde5">pcl::Feature::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> feature.hpp:93</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a3f68793061ef0973bdacfea56cf5ae21"><div class="ttname"><a href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">pcl::Feature::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">The number of K nearest neighbors to use for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a44829319486a2dc415a4e068dc55c577"><div class="ttname"><a href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">pcl::Feature::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...</div><div class="ttdef"><b>Definition:</b> feature.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a50129bc51cb240eca42df9963f7ac0c0"><div class="ttname"><a href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">pcl::Feature::setKSearch</a></div><div class="ttdeci">void setKSearch(int k)</div><div class="ttdoc">Set the number of k nearest neighbors to use for the feature estimation.</div><div class="ttdef"><b>Definition:</b> feature.h:186</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a7ce882e12198b2b2373cc31ba27b0ef1"><div class="ttname"><a href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">pcl::Feature::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> feature.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a86004b18e77cc0c38a1a33fbd43fb760"><div class="ttname"><a href="classpcl_1_1_feature.html#a86004b18e77cc0c38a1a33fbd43fb760">pcl::Feature::getSearchParameter</a></div><div class="ttdeci">double getSearchParameter() const</div><div class="ttdoc">Get the internal search parameter.</div><div class="ttdef"><b>Definition:</b> feature.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a9422bdfb7074f73019e32d55eeda73bb"><div class="ttname"><a href="classpcl_1_1_feature.html#a9422bdfb7074f73019e32d55eeda73bb">pcl::Feature::searchForNeighbors</a></div><div class="ttdeci">int searchForNeighbors(const PointCloudIn &amp;cloud, size_t index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</div><div class="ttdoc">Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface ...</div><div class="ttdef"><b>Definition:</b> feature.h:288</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a94cce071beee358359b14db2edcc62ae"><div class="ttname"><a href="classpcl_1_1_feature.html#a94cce071beee358359b14db2edcc62ae">pcl::Feature::getKSearch</a></div><div class="ttdeci">int getKSearch() const</div><div class="ttdoc">get the number of k nearest neighbors used for the feature estimation.</div><div class="ttdef"><b>Definition:</b> feature.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a96497e27e1087c0b1e07c8ae84aea152"><div class="ttname"><a href="classpcl_1_1_feature.html#a96497e27e1087c0b1e07c8ae84aea152">pcl::Feature::Feature</a></div><div class="ttdeci">Feature()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> feature.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a98f8c497ac78cf49d9274c3ab5fe52df"><div class="ttname"><a href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">pcl::Feature::surface_</a></div><div class="ttdeci">PointCloudInConstPtr surface_</div><div class="ttdoc">An input point cloud describing the surface that is to be used for nearest neighbors estimation.</div><div class="ttdef"><b>Definition:</b> feature.h:230</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_aa08fc132189062dabfa291701fa46440"><div class="ttname"><a href="classpcl_1_1_feature.html#aa08fc132189062dabfa291701fa46440">pcl::Feature::fake_surface_</a></div><div class="ttdeci">bool fake_surface_</div><div class="ttdoc">If no surface is given, we use the input PointCloud as the surface.</div><div class="ttdef"><b>Definition:</b> feature.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_aa7d2ff6f0db4d63a74a3e01ad2b1f9ab"><div class="ttname"><a href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">pcl::Feature::searchForNeighbors</a></div><div class="ttdeci">int searchForNeighbors(size_t index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</div><div class="ttdoc">Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface ...</div><div class="ttdef"><b>Definition:</b> feature.h:270</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ab235b6b76033922b19aae91714d7e413"><div class="ttname"><a href="classpcl_1_1_feature.html#ab235b6b76033922b19aae91714d7e413">pcl::Feature::deinitCompute</a></div><div class="ttdeci">virtual bool deinitCompute()</div><div class="ttdoc">This method should get called after ending the actual computation.</div><div class="ttdef"><b>Definition:</b> feature.hpp:176</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ac62f459672f3ca0e986e495a9220b268"><div class="ttname"><a href="classpcl_1_1_feature.html#ac62f459672f3ca0e986e495a9220b268">pcl::Feature::getRadiusSearch</a></div><div class="ttdeci">double getRadiusSearch() const</div><div class="ttdoc">Get the sphere radius used for determining the neighbors.</div><div class="ttdef"><b>Definition:</b> feature.h:207</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_acc850056d252306c48c481e4bbee1821"><div class="ttname"><a href="classpcl_1_1_feature.html#acc850056d252306c48c481e4bbee1821">pcl::Feature::getSearchMethod</a></div><div class="ttdeci">KdTreePtr getSearchMethod() const</div><div class="ttdoc">Get a pointer to the search method used.</div><div class="ttdef"><b>Definition:</b> feature.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ace1caca622f06eee8ad1911228324792"><div class="ttname"><a href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">pcl::Feature::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> feature.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ace6344a05ab920294e725ef503cac0c0"><div class="ttname"><a href="classpcl_1_1_feature.html#ace6344a05ab920294e725ef503cac0c0">pcl::Feature::computeFeature</a></div><div class="ttdeci">virtual void computeFeature(PointCloudOut &amp;output)=0</div><div class="ttdoc">Abstract feature estimation method.</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ae6b4d5717999b6267a670dc704146fdc"><div class="ttname"><a href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">pcl::Feature::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> feature.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_af2d27cdd139bd79335008303cf68ba82"><div class="ttname"><a href="classpcl_1_1_feature.html#af2d27cdd139bd79335008303cf68ba82">pcl::Feature::search_method_surface_</a></div><div class="ttdeci">SearchMethodSurface search_method_surface_</div><div class="ttdoc">The search method template for points.</div><div class="ttdef"><b>Definition:</b> feature.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html">pcl::FeatureWithLocalReferenceFrames</a></div><div class="ttdoc">FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...</div><div class="ttdef"><b>Definition:</b> feature.h:448</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html_a0c278f5c08c3311267776b670bd0bb80"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html#a0c278f5c08c3311267776b670bd0bb80">pcl::FeatureWithLocalReferenceFrames::frames_</a></div><div class="ttdeci">PointCloudLRFConstPtr frames_</div><div class="ttdoc">A boost shared pointer to the local reference frames.</div><div class="ttdef"><b>Definition:</b> feature.h:482</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html_a28f22d4458108e3fc08f249f1563c9ef"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html#a28f22d4458108e3fc08f249f1563c9ef">pcl::FeatureWithLocalReferenceFrames::~FeatureWithLocalReferenceFrames</a></div><div class="ttdeci">virtual ~FeatureWithLocalReferenceFrames()</div><div class="ttdoc">Empty destructor.</div><div class="ttdef"><b>Definition:</b> feature.h:458</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html_a2b8721b333f2845bdfe8d7ee51aab2fc"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html#a2b8721b333f2845bdfe8d7ee51aab2fc">pcl::FeatureWithLocalReferenceFrames::getInputReferenceFrames</a></div><div class="ttdeci">PointCloudLRFConstPtr getInputReferenceFrames() const</div><div class="ttdoc">Get a pointer to the local reference frames.</div><div class="ttdef"><b>Definition:</b> feature.h:475</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html_a88e05490c1db062dda72504d2e64fd63"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html#a88e05490c1db062dda72504d2e64fd63">pcl::FeatureWithLocalReferenceFrames::setInputReferenceFrames</a></div><div class="ttdeci">void setInputReferenceFrames(const PointCloudLRFConstPtr &amp;frames)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset....</div><div class="ttdef"><b>Definition:</b> feature.h:467</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html_aae1b8e90edb0dbb4a290f59a1c282908"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html#aae1b8e90edb0dbb4a290f59a1c282908">pcl::FeatureWithLocalReferenceFrames::FeatureWithLocalReferenceFrames</a></div><div class="ttdeci">FeatureWithLocalReferenceFrames()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> feature.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html_ae98fabb9e51dba477a0968961f16645d"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html#ae98fabb9e51dba477a0968961f16645d">pcl::FeatureWithLocalReferenceFrames::frames_never_defined_</a></div><div class="ttdeci">bool frames_never_defined_</div><div class="ttdoc">The user has never set the frames.</div><div class="ttdef"><b>Definition:</b> feature.h:484</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html_afd45c82ad4414fc120364f7c4d248e41"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">pcl::FeatureWithLocalReferenceFrames::LRFEstimationPtr</a></div><div class="ttdeci">Feature&lt; PointInT, PointRFT &gt;::Ptr LRFEstimationPtr</div><div class="ttdoc">Check if frames_ has been correctly initialized and compute it if needed.</div><div class="ttdef"><b>Definition:</b> feature.h:491</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointInT &gt;</a></div></div>
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